Adafruit_ADXL343.h

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/**************************************************************************/
/**************************************************************************/
#ifndef _ADAFRUIT_SENSOR_ADXL343_H
#define _ADAFRUIT_SENSOR_ADXL343_H

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_SPIDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

/*=========================================================================
    I2C ADDRESS/BITS
    -----------------------------------------------------------------------*/
#define ADXL343_ADDRESS (0x53) 
/*=========================================================================*/

/*=========================================================================
    REGISTERS
    -----------------------------------------------------------------------*/
#define ADXL3XX_REG_DEVID (0x00)        
#define ADXL3XX_REG_THRESH_TAP (0x1D)   
#define ADXL3XX_REG_OFSX (0x1E)         
#define ADXL3XX_REG_OFSY (0x1F)         
#define ADXL3XX_REG_OFSZ (0x20)         
#define ADXL3XX_REG_DUR (0x21)          
#define ADXL3XX_REG_LATENT (0x22)       
#define ADXL3XX_REG_WINDOW (0x23)       
#define ADXL3XX_REG_THRESH_ACT (0x24)   
#define ADXL3XX_REG_THRESH_INACT (0x25) 
#define ADXL3XX_REG_TIME_INACT (0x26)   
#define ADXL3XX_REG_ACT_INACT_CTL                                              \
  (0x27) 
#define ADXL3XX_REG_THRESH_FF (0x28) 
#define ADXL3XX_REG_TIME_FF (0x29)   
#define ADXL3XX_REG_TAP_AXES (0x2A)  
#define ADXL3XX_REG_ACT_TAP_STATUS (0x2B) 
#define ADXL3XX_REG_BW_RATE (0x2C)     
#define ADXL3XX_REG_POWER_CTL (0x2D)   
#define ADXL3XX_REG_INT_ENABLE (0x2E)  
#define ADXL3XX_REG_INT_MAP (0x2F)     
#define ADXL3XX_REG_INT_SOURCE (0x30)  
#define ADXL3XX_REG_DATA_FORMAT (0x31) 
#define ADXL3XX_REG_DATAX0 (0x32)      
#define ADXL3XX_REG_DATAX1 (0x33)      
#define ADXL3XX_REG_DATAY0 (0x34)      
#define ADXL3XX_REG_DATAY1 (0x35)      
#define ADXL3XX_REG_DATAZ0 (0x36)      
#define ADXL3XX_REG_DATAZ1 (0x37)      
#define ADXL3XX_REG_FIFO_CTL (0x38)    
#define ADXL3XX_REG_FIFO_STATUS (0x39) 
/*=========================================================================*/

/*=========================================================================
    REGISTERS
    -----------------------------------------------------------------------*/
#define ADXL343_MG2G_MULTIPLIER (0.004) 
/*=========================================================================*/

typedef enum {
  ADXL343_DATARATE_3200_HZ = 0b1111, 
  ADXL343_DATARATE_1600_HZ = 0b1110, 
  ADXL343_DATARATE_800_HZ = 0b1101,  
  ADXL343_DATARATE_400_HZ = 0b1100,  
  ADXL343_DATARATE_200_HZ = 0b1011,  
  ADXL343_DATARATE_100_HZ = 0b1010,  
  ADXL343_DATARATE_50_HZ = 0b1001,   
  ADXL343_DATARATE_25_HZ = 0b1000,   
  ADXL343_DATARATE_12_5_HZ = 0b0111, 
  ADXL343_DATARATE_6_25HZ = 0b0110,  
  ADXL343_DATARATE_3_13_HZ = 0b0101, 
  ADXL343_DATARATE_1_56_HZ = 0b0100, 
  ADXL343_DATARATE_0_78_HZ = 0b0011, 
  ADXL343_DATARATE_0_39_HZ = 0b0010, 
  ADXL343_DATARATE_0_20_HZ = 0b0001, 
  ADXL343_DATARATE_0_10_HZ = 0b0000, 
  ADXL3XX_DATARATE_3200_HZ = 0b1111, 
  ADXL3XX_DATARATE_1600_HZ = 0b1110, 
  ADXL3XX_DATARATE_800_HZ = 0b1101,  
  ADXL3XX_DATARATE_400_HZ = 0b1100,  
  ADXL3XX_DATARATE_200_HZ = 0b1011,  
  ADXL3XX_DATARATE_100_HZ = 0b1010,  
  ADXL3XX_DATARATE_50_HZ = 0b1001,   
  ADXL3XX_DATARATE_25_HZ = 0b1000,   
  ADXL3XX_DATARATE_12_5_HZ = 0b0111, 
  ADXL3XX_DATARATE_6_25HZ = 0b0110,  
  ADXL3XX_DATARATE_3_13_HZ = 0b0101, 
  ADXL3XX_DATARATE_1_56_HZ = 0b0100, 
  ADXL3XX_DATARATE_0_78_HZ = 0b0011, 
  ADXL3XX_DATARATE_0_39_HZ = 0b0010, 
  ADXL3XX_DATARATE_0_20_HZ = 0b0001, 
  ADXL3XX_DATARATE_0_10_HZ = 0b0000  
} adxl3xx_dataRate_t;

typedef enum {
  ADXL343_RANGE_16_G = 0b11, 
  ADXL343_RANGE_8_G = 0b10,  
  ADXL343_RANGE_4_G = 0b01,  
  ADXL343_RANGE_2_G = 0b00,  
  ADXL34X_RANGE_16_G = 0b11, 
  ADXL34X_RANGE_8_G = 0b10,  
  ADXL34X_RANGE_4_G = 0b01,  
  ADXL34X_RANGE_2_G = 0b00   
} adxl34x_range_t;

union int_config {
  uint8_t value; 
  struct {
    uint8_t overrun : 1;    
    uint8_t watermark : 1;  
    uint8_t freefall : 1;   
    uint8_t inactivity : 1; 
    uint8_t activity : 1;   
    uint8_t double_tap : 1; 
    uint8_t single_tap : 1; 
    uint8_t data_ready : 1; 
  } bits;                   
};

typedef enum {
  ADXL343_INT1 = 0,
  ADXL343_INT2 = 1,
  ADXL3XX_INT1 = 0,
  ADXL3XX_INT2 = 1,
} adxl3xx_int_pin;

class Adafruit_ADXL343 : public Adafruit_Sensor {
public:
  Adafruit_ADXL343(int32_t sensorID);
  Adafruit_ADXL343(int32_t sensorID, TwoWire *wireBus);
  Adafruit_ADXL343(uint8_t clock, uint8_t miso, uint8_t mosi, uint8_t cs,
                   int32_t sensorID = -1);
  Adafruit_ADXL343(uint8_t cs, SPIClass *theSPI, int32_t sensorID = -1);

  bool begin(uint8_t i2caddr = ADXL343_ADDRESS);
  void setRange(adxl34x_range_t range);
  adxl34x_range_t getRange(void);
  void setDataRate(adxl3xx_dataRate_t dataRate);
  adxl3xx_dataRate_t getDataRate(void);
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

  uint8_t getDeviceID(void);
  void writeRegister(uint8_t reg, uint8_t value);
  uint8_t readRegister(uint8_t reg);
  int16_t read16(uint8_t reg);

  bool enableInterrupts(int_config cfg);
  bool mapInterrupts(int_config cfg);
  uint8_t checkInterrupts(void);

  void getTrimOffsets(int8_t *x, int8_t *y, int8_t *z);
  void setTrimOffsets(int8_t x, int8_t y, int8_t z);

  int16_t getX(void);
  int16_t getY(void);
  int16_t getZ(void);
  bool getXYZ(int16_t &x, int16_t &y, int16_t &z);

protected:
  Adafruit_SPIDevice *spi_dev = NULL; 
  Adafruit_I2CDevice *i2c_dev = NULL; 

  TwoWire *_wire = NULL;  
  SPIClass *_spi = NULL;  
  int32_t _sensorID;      
  adxl34x_range_t _range; 
  uint8_t _clk,           
      _do,                
      _di,                
      _cs;                
};

#endif